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378 lines
10 KiB
378 lines
10 KiB
/*
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* Copyright 2013 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#pragma once
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#include <math/TMatHelpers.h>
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#include <math/vec2.h>
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#include <stdint.h>
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#include <sys/types.h>
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#define PURE __attribute__((pure))
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#if __cplusplus >= 201402L
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#define CONSTEXPR constexpr
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#else
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#define CONSTEXPR
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#endif
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namespace android {
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// -------------------------------------------------------------------------------------
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namespace details {
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/**
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* A 2x2 column-major matrix class.
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*
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* Conceptually a 2x2 matrix is a an array of 2 column vec2:
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*
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* mat2 m =
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* \f$
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* \left(
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* \begin{array}{cc}
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* m[0] & m[1] \\
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* \end{array}
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* \right)
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* \f$
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* =
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* \f$
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* \left(
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* \begin{array}{cc}
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* m[0][0] & m[1][0] \\
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* m[0][1] & m[1][1] \\
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* \end{array}
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* \right)
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* \f$
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* =
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* \f$
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* \left(
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* \begin{array}{cc}
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* m(0,0) & m(0,1) \\
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* m(1,0) & m(1,1) \\
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* \end{array}
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* \right)
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* \f$
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*
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* m[n] is the \f$ n^{th} \f$ column of the matrix and is a vec2.
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*
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*/
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template <typename T>
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class TMat22 : public TVecUnaryOperators<TMat22, T>,
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public TVecComparisonOperators<TMat22, T>,
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public TVecAddOperators<TMat22, T>,
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public TMatProductOperators<TMat22, T>,
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public TMatSquareFunctions<TMat22, T>,
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public TMatHelpers<TMat22, T>,
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public TMatDebug<TMat22, T> {
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public:
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enum no_init { NO_INIT };
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typedef T value_type;
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typedef T& reference;
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typedef T const& const_reference;
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typedef size_t size_type;
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typedef TVec2<T> col_type;
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typedef TVec2<T> row_type;
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static constexpr size_t COL_SIZE = col_type::SIZE; // size of a column (i.e.: number of rows)
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static constexpr size_t ROW_SIZE = row_type::SIZE; // size of a row (i.e.: number of columns)
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static constexpr size_t NUM_ROWS = COL_SIZE;
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static constexpr size_t NUM_COLS = ROW_SIZE;
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private:
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/*
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* <-- N columns -->
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*
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* a[0][0] a[1][0] a[2][0] ... a[N][0] ^
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* a[0][1] a[1][1] a[2][1] ... a[N][1] |
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* a[0][2] a[1][2] a[2][2] ... a[N][2] M rows
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* ... |
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* a[0][M] a[1][M] a[2][M] ... a[N][M] v
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*
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* COL_SIZE = M
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* ROW_SIZE = N
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* m[0] = [ a[0][0] a[0][1] a[0][2] ... a[0][M] ]
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*/
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col_type m_value[NUM_COLS];
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public:
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// array access
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inline constexpr col_type const& operator[](size_t column) const {
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#if __cplusplus >= 201402L
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// only possible in C++0x14 with constexpr
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assert(column < NUM_COLS);
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#endif
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return m_value[column];
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}
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inline col_type& operator[](size_t column) {
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assert(column < NUM_COLS);
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return m_value[column];
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}
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// -----------------------------------------------------------------------
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// we want the compiler generated versions for these...
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TMat22(const TMat22&) = default;
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~TMat22() = default;
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TMat22& operator = (const TMat22&) = default;
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/**
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* constructors
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*/
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/**
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* leaves object uninitialized. use with caution.
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*/
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explicit constexpr TMat22(no_init)
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: m_value{ col_type(col_type::NO_INIT),
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col_type(col_type::NO_INIT) } {}
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/**
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* initialize to identity.
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*
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* \f$
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* \left(
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* \begin{array}{cc}
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* 1 & 0 \\
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* 0 & 1 \\
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* \end{array}
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* \right)
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* \f$
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*/
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CONSTEXPR TMat22();
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/**
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* initialize to Identity*scalar.
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*
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* \f$
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* \left(
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* \begin{array}{cc}
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* v & 0 \\
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* 0 & v \\
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* \end{array}
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* \right)
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* \f$
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*/
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template<typename U>
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explicit CONSTEXPR TMat22(U v);
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/**
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* sets the diagonal to a vector.
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*
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* \f$
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* \left(
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* \begin{array}{cc}
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* v[0] & 0 \\
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* 0 & v[1] \\
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* \end{array}
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* \right)
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* \f$
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*/
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template <typename U>
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explicit CONSTEXPR TMat22(const TVec2<U>& v);
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/**
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* construct from another matrix of the same size
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*/
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template <typename U>
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explicit CONSTEXPR TMat22(const TMat22<U>& rhs);
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/**
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* construct from 2 column vectors.
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*
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* \f$
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* \left(
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* \begin{array}{cc}
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* v0 & v1 \\
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* \end{array}
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* \right)
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* \f$
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*/
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template <typename A, typename B>
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CONSTEXPR TMat22(const TVec2<A>& v0, const TVec2<B>& v1);
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/** construct from 4 elements in column-major form.
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*
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* \f$
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* \left(
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* \begin{array}{cc}
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* m[0][0] & m[1][0] \\
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* m[0][1] & m[1][1] \\
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* \end{array}
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* \right)
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* \f$
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*/
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template <
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typename A, typename B,
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typename C, typename D>
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CONSTEXPR TMat22(A m00, B m01, C m10, D m11);
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/**
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* construct from a C array in column major form.
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*/
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template <typename U>
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explicit CONSTEXPR TMat22(U const* rawArray);
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/**
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* Rotate by radians in the 2D plane
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*/
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static CONSTEXPR TMat22<T> rotate(T radian) {
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TMat22<T> r(TMat22<T>::NO_INIT);
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T c = std::cos(radian);
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T s = std::sin(radian);
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r[0][0] = c; r[1][1] = c;
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r[0][1] = s; r[1][0] = -s;
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return r;
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}
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};
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// ----------------------------------------------------------------------------------------
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// Constructors
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// ----------------------------------------------------------------------------------------
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// Since the matrix code could become pretty big quickly, we don't inline most
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// operations.
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template <typename T>
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CONSTEXPR TMat22<T>::TMat22() {
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m_value[0] = col_type(1, 0);
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m_value[1] = col_type(0, 1);
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}
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template <typename T>
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template <typename U>
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CONSTEXPR TMat22<T>::TMat22(U v) {
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m_value[0] = col_type(v, 0);
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m_value[1] = col_type(0, v);
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}
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template<typename T>
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template<typename U>
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CONSTEXPR TMat22<T>::TMat22(const TVec2<U>& v) {
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m_value[0] = col_type(v.x, 0);
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m_value[1] = col_type(0, v.y);
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}
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// construct from 4 scalars. Note that the arrangement
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// of values in the constructor is the transpose of the matrix
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// notation.
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template<typename T>
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template <
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typename A, typename B,
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typename C, typename D>
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CONSTEXPR TMat22<T>::TMat22( A m00, B m01, C m10, D m11) {
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m_value[0] = col_type(m00, m01);
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m_value[1] = col_type(m10, m11);
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}
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template <typename T>
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template <typename U>
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CONSTEXPR TMat22<T>::TMat22(const TMat22<U>& rhs) {
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for (size_t col = 0; col < NUM_COLS; ++col) {
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m_value[col] = col_type(rhs[col]);
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}
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}
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// Construct from 2 column vectors.
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template <typename T>
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template <typename A, typename B>
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CONSTEXPR TMat22<T>::TMat22(const TVec2<A>& v0, const TVec2<B>& v1) {
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m_value[0] = v0;
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m_value[1] = v1;
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}
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// Construct from raw array, in column-major form.
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template <typename T>
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template <typename U>
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CONSTEXPR TMat22<T>::TMat22(U const* rawArray) {
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for (size_t col = 0; col < NUM_COLS; ++col) {
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for (size_t row = 0; row < NUM_ROWS; ++row) {
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m_value[col][row] = *rawArray++;
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}
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}
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}
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// ----------------------------------------------------------------------------------------
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// Arithmetic operators outside of class
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// ----------------------------------------------------------------------------------------
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/* We use non-friend functions here to prevent the compiler from using
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* implicit conversions, for instance of a scalar to a vector. The result would
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* not be what the caller expects.
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*
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* Also note that the order of the arguments in the inner loop is important since
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* it determines the output type (only relevant when T != U).
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*/
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// matrix * column-vector, result is a vector of the same type than the input vector
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template <typename T, typename U>
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CONSTEXPR typename TMat22<U>::col_type PURE operator *(const TMat22<T>& lhs, const TVec2<U>& rhs) {
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// Result is initialized to zero.
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typename TMat22<U>::col_type result;
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for (size_t col = 0; col < TMat22<T>::NUM_COLS; ++col) {
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result += lhs[col] * rhs[col];
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}
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return result;
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}
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// row-vector * matrix, result is a vector of the same type than the input vector
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template <typename T, typename U>
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CONSTEXPR typename TMat22<U>::row_type PURE operator *(const TVec2<U>& lhs, const TMat22<T>& rhs) {
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typename TMat22<U>::row_type result(TMat22<U>::row_type::NO_INIT);
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for (size_t col = 0; col < TMat22<T>::NUM_COLS; ++col) {
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result[col] = dot(lhs, rhs[col]);
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}
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return result;
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}
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// matrix * scalar, result is a matrix of the same type than the input matrix
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template<typename T, typename U>
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constexpr typename std::enable_if<std::is_arithmetic<U>::value, TMat22<T>>::type PURE
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operator*(TMat22<T> lhs, U rhs) {
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return lhs *= rhs;
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}
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// scalar * matrix, result is a matrix of the same type than the input matrix
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template<typename T, typename U>
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constexpr typename std::enable_if<std::is_arithmetic<U>::value, TMat22<T>>::type PURE
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operator*(U lhs, const TMat22<T>& rhs) {
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return rhs * lhs;
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}
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// ----------------------------------------------------------------------------------------
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/* FIXME: this should go into TMatSquareFunctions<> but for some reason
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* BASE<T>::col_type is not accessible from there (???)
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*/
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template<typename T>
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CONSTEXPR typename TMat22<T>::col_type PURE diag(const TMat22<T>& m) {
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return matrix::diag(m);
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}
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} // namespace details
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// ----------------------------------------------------------------------------------------
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typedef details::TMat22<double> mat2d;
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typedef details::TMat22<float> mat2;
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typedef details::TMat22<float> mat2f;
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// ----------------------------------------------------------------------------------------
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} // namespace android
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#undef PURE
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#undef CONSTEXPR
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